/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Heriot-Watt University, UK.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Heriot-Watt University nor the names of
*     its contributors may be used to endorse or promote products
*     derived from this software without specific prior written
*     permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  Author: Joel Cartwright
*
*********************************************************************/

#include <iostream>
#include <sstream>
using namespace std;

#include <ros/ros.h>
#include <rosgraph_msgs/Clock.h>

// ---------------------------------------------------------------------------
void print_commands()
{
	cout << "Commands: 1 2 3 4 5 6 7 8 9 0 * / + - <space> q" << endl;
	cout << "  0 is actually 10x" << endl;
	cout << "  q quits" << endl << endl;
}

// ---------------------------------------------------------------------------
int main(int argc, char **argv)
{
	ros::init(argc, argv, "time_control");
	ros::NodeHandle node;

	double time_scale = 1.0;

	if (!ros::param::getCached("/time_scale", time_scale)) {
		cout << "time_scale not set, using default: " << time_scale << endl;
	}

	ros::param::set("time_scale", time_scale);

	bool paused = false;

	cout << "This node changes the parameter /time_scale based on keyboard input." << endl;
	print_commands();
	cout << "Initial time_scale: " << time_scale << endl;

	while (ros::ok())
	{
		ros::spinOnce();

		int c = getchar();
		bool new_scale = false;

		if (!paused) ros::param::getCached("/time_scale", time_scale);

		if (c == '0') {
			time_scale = 10.0;
			new_scale = true;
		}
		else if (c >= '1' && c <= '9') {
			time_scale = (double)(c - '1' + 1);
			new_scale = true;
		}
		else if (c == ' ') {
			if (paused) {
				cout << "Unpausing time." << endl;
				paused = false;
				new_scale = true;
			}
			else {
				cout << "Pausing time. Press space again to resume." << endl;
				ros::param::set("time_scale", 0);
				paused = true;
			}
		}
		else if (c == '+') {
			time_scale += 1.0;
			new_scale = true;
		}
		else if (c == '-') {
			time_scale -= 1.0;
			if (time_scale < 0) time_scale = 0.0;
			new_scale = true;
		}
		else if (c == '*') {
			if (time_scale <= 0) time_scale = 1.0;
			else time_scale *= 2.0;
			new_scale = true;
		}
		else if (c == '/') {
			time_scale /= 2.0;
			new_scale = true;
		}
		else if (c == 27 || c == 'q') {
			cout << "Exiting." << endl;
			break;
		}
		else if (c == 10) {
			// Ignore return
			continue;
		}
		else {
			cout << "Unrecognised command." << endl;
			print_commands();
		}

		if (new_scale) {
			if (paused) {
				cout << "Paused time_scale: " << time_scale << endl;
			}
			else
			{
				cout << "Setting time_scale: " << time_scale << endl;
				ros::param::set("time_scale", time_scale);
			}
		}
	}

	ros::shutdown();

	ros::waitForShutdown();

	return 0;
}
